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   <div id="projectbrief">Contains tools for measuring UAV swarm performance when flying through a path graph and allows the UAV swarm to fly through a generated graph.</div>
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<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_9671a9f33d055109bbd7c6917741663d.html">vtk_voro</a></li>  </ul>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * File name: dijkstra_lite.h</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * Date:      2008/07/30 10:38</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Author:    Jan Faigl</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#ifndef __DIJKSTRA_LITE_H__</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define __DIJKSTRA_LITE_H__</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span> <span class="comment">//TODO debug</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;boost/foreach.hpp&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;dijkstra_heap.h&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceimr.html">imr</a> {</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;   <span class="keyword">namespace </span><a class="code" href="graph_8cpp.html#a7f0876063956a2c9f083434f30d8abd3">dijkstra</a> {</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classimr_1_1dijkstra_1_1CDijkstraLite.html">   24</a></span>&#160;         <span class="keyword">class </span><a class="code" href="classimr_1_1dijkstra_1_1CDijkstraLite.html">CDijkstraLite</a> {</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;            <span class="keyword">public</span>:</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;               <span class="keyword">typedef</span> T Weight;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;               <a class="code" href="classimr_1_1dijkstra_1_1CDijkstraLite.html">CDijkstraLite</a>() {}</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;               ~<a class="code" href="classimr_1_1dijkstra_1_1CDijkstraLite.html">CDijkstraLite</a>() {}</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;               <span class="keywordtype">void</span> addEdge(<span class="keywordtype">long</span> <span class="keywordtype">int</span> from, <span class="keywordtype">long</span> <span class="keywordtype">int</span> to, Weight weight) {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;                  <span class="keywordtype">long</span> <span class="keywordtype">int</span> max;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                  max = from &gt; to ? from : to;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;                  <span class="keywordflow">if</span> (max &gt;= nodes.size()) {</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                     nodes.resize(max + 1); </div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                  }</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;                  nodes[from].edges.push_back(SEdge(to, weight));</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;               }</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;               <span class="keywordtype">void</span> addEdge(<span class="keywordtype">long</span> <span class="keywordtype">int</span> from, <span class="keywordtype">long</span> <span class="keywordtype">int</span> to, Weight weight, <span class="keywordtype">bool</span> check) {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                  <span class="keywordtype">bool</span> already = <span class="keyword">false</span>;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                  <span class="keywordtype">long</span> <span class="keywordtype">int</span> max;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                  max = from &gt; to ? from : to;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                  <span class="keywordflow">if</span> (max &gt;= nodes.size()) {</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                     nodes.resize(max + 1); </div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                  }</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;                  <span class="keywordflow">if</span> (check) {</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                     Edges &amp; edges = nodes[from].edges;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                     <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">int</span> i = 0; i &lt; edges.size(); i++) {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                        <span class="keywordflow">if</span> (edges[i].to == to) {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                           already = <span class="keyword">true</span>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                           <span class="keywordflow">break</span>;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                        }</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                     }</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                  }</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                  <span class="keywordflow">if</span> (!already) {</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;                     nodes[from].edges.push_back(SEdge(to, weight));</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                  }</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;               }</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classimr_1_1dijkstra_1_1CDijkstraLite.html#a355801f9010414276175a1940210faf9">   65</a></span>&#160;               <span class="keywordtype">bool</span> <a class="code" href="classimr_1_1dijkstra_1_1CDijkstraLite.html#a355801f9010414276175a1940210faf9">is_valid</a>(<span class="keywordtype">void</span>) {</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                  <span class="keywordtype">bool</span> ret = <span class="keyword">true</span>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                  <span class="keywordtype">long</span> <span class="keywordtype">int</span> v = 0;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                  <span class="keywordflow">while</span> (v &lt; nodes.size() &amp;&amp; ret) {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                     Edges &amp; edges(nodes[v].edges);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                     <span class="keyword">const</span> <span class="keywordtype">long</span> <span class="keywordtype">int</span> s = edges.size();</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                     <span class="keywordtype">long</span> <span class="keywordtype">int</span> i = 0;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;                     <span class="keywordflow">while</span>(i &lt; s &amp;&amp; ret) {</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;                        <span class="keywordtype">long</span> <span class="keywordtype">int</span> j = i + 1;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                        <span class="keywordflow">while</span> (j &lt; s &amp;&amp; ret) {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                           ret = edges[i].to != edges[j].to;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                           <span class="keywordflow">if</span> (!ret) {</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                              std::cout &lt;&lt; <span class="stringliteral">&quot;Duplicate edge from &quot;</span> &lt;&lt; v &lt;&lt; <span class="stringliteral">&quot;-&gt;&quot;</span>  &lt;&lt; edges[i].to  &lt;&lt; <span class="stringliteral">&quot;i:&quot;</span> &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot; j:&quot;</span> &lt;&lt; j &lt;&lt; std::endl;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                           }</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                           j++;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                        }</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                        i++;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                     } <span class="comment">//end first to</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                     v++;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                  }</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                  <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;               }</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;               <span class="keywordtype">void</span> load(std::string filename){</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                  <span class="keywordtype">long</span> <span class="keywordtype">int</span> from;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                  <span class="keywordtype">long</span> <span class="keywordtype">int</span> to;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                  Weight weight;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                  std::ifstream in(filename.c_str());</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                  <span class="keywordflow">while</span>(in &gt;&gt; from &gt;&gt; to &gt;&gt; weight) {</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                     addEdge(from, to, weight);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                  }</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;               }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;               <span class="keywordtype">void</span> save(std::string filename){</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                  std::fstream out;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                  out.open(filename.c_str(), std::ios::out);</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">int</span> i = 0; i &lt; nodes.size(); i++) {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                     out &lt;&lt; i &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; nodes[i].weight &lt;&lt; <span class="stringliteral">&quot; &quot;</span> &lt;&lt; nodes[i].pred &lt;&lt; std::endl;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                  }</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;               }</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;               <span class="keywordtype">void</span> solve(){</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                  solve(0);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;               }</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classimr_1_1dijkstra_1_1CDijkstraLite.html#ab37aecd07de50fc5bcf1974f8f30112a">  119</a></span>&#160;               <span class="keywordtype">void</span> <a class="code" href="classimr_1_1dijkstra_1_1CDijkstraLite.html#ab37aecd07de50fc5bcf1974f8f30112a">solve</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <span class="keywordtype">int</span> start, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <span class="keywordtype">int</span> goal, std::vector&lt;Weight&gt; &amp; weights, std::vector&lt;long int&gt; &amp; path) {</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                  std::vector&lt;long int&gt; pred;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                  solve(start, pred, weights);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                  <span class="keywordtype">long</span> <span class="keywordtype">int</span> cur = goal;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                  path.clear();</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                  <span class="keywordflow">if</span> (pred[cur] != -1) { <span class="comment">//path has been found</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                     <span class="keywordflow">do</span> {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                        path.push_back(cur);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                        cur = pred[cur];</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                     } <span class="keywordflow">while</span> (cur != start &amp;&amp; pred[cur] != -1);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                     <span class="keywordflow">if</span> (cur == start) { <span class="comment">//path has been found</span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                        path.push_back(start); <span class="comment">//push the start</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                        std::reverse(path.begin(), path.end());</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                     } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                        path.clear(); <span class="comment">//path has not been found</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                     }</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                  }</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;               }</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;               <span class="keywordtype">void</span> solve(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <span class="keywordtype">int</span> start, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <span class="keywordtype">int</span> goal, Weight &amp; weight, std::vector&lt;long int&gt; &amp; path) {</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                  std::vector&lt;long int&gt; pred;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                  std::vector&lt;Weight&gt; weights;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                  solve(start, goal, weights, path);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                  <span class="keywordflow">if</span> (path.size() &gt; 0) {</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                     weight = weights[goal];</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                  }</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;               }</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;               <span class="keywordtype">void</span> solve(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <span class="keywordtype">int</span> start, std::vector&lt;long int&gt; &amp; pred, std::vector&lt;Weight&gt; &amp; weight) {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                  solve(start);</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                  pred.clear();</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                  weight.clear();</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                  pred.reserve(nodes.size());</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                  weight.reserve(nodes.size());</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">int</span> i = 0; i &lt; nodes.size(); i++) {</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                     pred.push_back(nodes[i].pred);</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                     weight.push_back(nodes[i].weight);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                  }</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;               }</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;               <span class="keywordtype">void</span> solve(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <span class="keywordtype">int</span> start){</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                  <span class="keywordtype">long</span> <span class="keywordtype">int</span> node_idx;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                  <a class="code" href="classimr_1_1dijkstra_1_1CHeap.html">CHeap&lt;Nodes, Weight&gt;</a> heap(nodes.size(), nodes);</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                  <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">int</span> i = 0; i &lt; nodes.size(); i++) {</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                     nodes[i].weight  = -1;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                     nodes[i].pred = -1;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                  }</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                  nodes[start].weight = 0;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                  heap.add(start, 0);</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                  <span class="keywordflow">while</span>((node_idx = heap.getFirst()) != -1) {</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                     SNode &amp; node = nodes[node_idx];</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                     BOOST_FOREACH(SEdge e, node.edges) {</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                        SNode &amp; to = nodes[e.to];</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                        <span class="keywordflow">if</span> (heap.getIDX(e.to) == -1) { </div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                           <span class="keywordflow">if</span> (to.weight  == -1) { <span class="comment">//not  in close list</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;                              to.weight = node.weight + e.weight;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                              to.pred = node_idx;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                              heap.add(e.to, to.weight);</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                           }</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                           Weight c = node.weight + e.weight;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                           <span class="keywordflow">if</span> (to.weight &gt; c) {</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                              to.weight = c;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;                              to.pred = node_idx;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                              heap.update(e.to, to.weight);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                           }</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                        }</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                     } <span class="comment">//end for loop</span></div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                     heap.getIDX(node_idx) = -1; </div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                  }</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;               }</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;               <span class="keywordtype">void</span> clear(<span class="keywordtype">void</span>) {</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                  nodes.clear();</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;               }</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;            <span class="keyword">private</span>:</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;               <span class="keyword">struct </span>SEdge {</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                  <span class="keywordtype">long</span> <span class="keywordtype">int</span> to;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;                  Weight weight;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;                  SEdge(<span class="keywordtype">long</span> <span class="keywordtype">int</span> to, Weight weight) : to(to), weight(weight) {}</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;               };</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;               <span class="keyword">typedef</span> std::vector&lt;SEdge&gt; Edges;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;               <span class="keyword">struct </span>SNode {</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                  Weight weight;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                  <span class="keywordtype">long</span> <span class="keywordtype">int</span> pred;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                  Edges edges;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                  SNode() : weight(0), pred(-1) {}</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;               };</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;               <span class="keyword">typedef</span> std::vector&lt;SNode&gt; Nodes;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;               Nodes nodes;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;         };</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;   } <span class="comment">//end namespace dijkstra</span></div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;} <span class="comment">//end namespace imr</span></div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="comment">/* end of dijkstra_lite.h */</span></div><div class="ttc" id="classimr_1_1dijkstra_1_1CDijkstraLite_html_a355801f9010414276175a1940210faf9"><div class="ttname"><a href="classimr_1_1dijkstra_1_1CDijkstraLite.html#a355801f9010414276175a1940210faf9">imr::dijkstra::CDijkstraLite::is_valid</a></div><div class="ttdeci">bool is_valid(void)</div><div class="ttdoc">is_valid </div><div class="ttdef"><b>Definition:</b> dijkstra_lite.h:65</div></div>
<div class="ttc" id="namespaceimr_html"><div class="ttname"><a href="namespaceimr.html">imr</a></div><div class="ttdef"><b>Definition:</b> dijkstra_heap.h:10</div></div>
<div class="ttc" id="classimr_1_1dijkstra_1_1CDijkstraLite_html"><div class="ttname"><a href="classimr_1_1dijkstra_1_1CDijkstraLite.html">imr::dijkstra::CDijkstraLite</a></div><div class="ttdef"><b>Definition:</b> dijkstra_lite.h:24</div></div>
<div class="ttc" id="graph_8cpp_html_a7f0876063956a2c9f083434f30d8abd3"><div class="ttname"><a href="graph_8cpp.html#a7f0876063956a2c9f083434f30d8abd3">dijkstra</a></div><div class="ttdeci">vector&lt; int &gt; dijkstra(vector&lt; vector&lt; double &gt;&gt; graph, int src, int goal, unsigned long vnum)</div><div class="ttdef"><b>Definition:</b> graph.cpp:94</div></div>
<div class="ttc" id="classimr_1_1dijkstra_1_1CHeap_html"><div class="ttname"><a href="classimr_1_1dijkstra_1_1CHeap.html">imr::dijkstra::CHeap</a></div><div class="ttdef"><b>Definition:</b> dijkstra_heap.h:17</div></div>
<div class="ttc" id="classimr_1_1dijkstra_1_1CDijkstraLite_html_ab37aecd07de50fc5bcf1974f8f30112a"><div class="ttname"><a href="classimr_1_1dijkstra_1_1CDijkstraLite.html#ab37aecd07de50fc5bcf1974f8f30112a">imr::dijkstra::CDijkstraLite::solve</a></div><div class="ttdeci">void solve(unsigned long int start, unsigned long int goal, std::vector&lt; Weight &gt; &amp;weights, std::vector&lt; long int &gt; &amp;path)</div><div class="ttdoc">solve start and goal node are part of path </div><div class="ttdef"><b>Definition:</b> dijkstra_lite.h:119</div></div>
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